81 lines
2.0 KiB
Python
81 lines
2.0 KiB
Python
from pypot.feetech import FeetechSTS3215IO
|
|
import time
|
|
import pickle
|
|
|
|
io = FeetechSTS3215IO(
|
|
"/dev/ttyACM0",
|
|
baudrate=1000000,
|
|
use_sync_read=True,
|
|
)
|
|
|
|
id = 24
|
|
max_acceleration = 254
|
|
io.set_D_coefficient({id: 0})
|
|
io.set_acceleration({id: max_acceleration})
|
|
|
|
io.set_goal_position({id: 0})
|
|
|
|
# present position
|
|
# goal position
|
|
# present load
|
|
# present current
|
|
# present speed
|
|
# 0 deg pendant 2s, 90° pendant 2s etc
|
|
|
|
|
|
present_positions = []
|
|
goal_positions = []
|
|
present_loads = []
|
|
present_currents = []
|
|
present_speeds = []
|
|
times = []
|
|
|
|
input("press enter to start")
|
|
|
|
io.set_goal_position({id: 90})
|
|
s = time.time()
|
|
while time.time() - s < 2:
|
|
present_positions.append(io.get_present_position([id])[0])
|
|
goal_positions.append(io.get_goal_position([id])[0])
|
|
present_loads.append(io.get_present_load([id])[0])
|
|
present_currents.append(io.get_present_current([id])[0])
|
|
present_speeds.append(io.get_present_speed([id])[0])
|
|
times.append(time.time())
|
|
|
|
|
|
io.set_goal_position({id: 0})
|
|
s = time.time()
|
|
while time.time() - s < 2:
|
|
present_positions.append(io.get_present_position([id])[0])
|
|
goal_positions.append(io.get_goal_position([id])[0])
|
|
present_loads.append(io.get_present_load([id])[0])
|
|
present_currents.append(io.get_present_current([id])[0])
|
|
present_speeds.append(io.get_present_speed([id])[0])
|
|
times.append(time.time())
|
|
|
|
io.set_goal_position({id: 90})
|
|
s = time.time()
|
|
while time.time() - s < 2:
|
|
present_positions.append(io.get_present_position([id])[0])
|
|
goal_positions.append(io.get_goal_position([id])[0])
|
|
present_loads.append(io.get_present_load([id])[0])
|
|
present_currents.append(io.get_present_current([id])[0])
|
|
present_speeds.append(io.get_present_speed([id])[0])
|
|
times.append(time.time())
|
|
|
|
|
|
data = {
|
|
"present_positions": present_positions,
|
|
"goal_positions": goal_positions,
|
|
"present_loads": present_loads,
|
|
"present_currents": present_currents,
|
|
"present_speeds": present_speeds,
|
|
"times": times,
|
|
}
|
|
|
|
pickle.dump(data, open(f"data_max_acc_{max_acceleration}.pkl", "wb"))
|
|
|
|
|
|
|
|
|